CN-117189012-B - Intelligent positioning cutting method for sleeve based on track measurement

CN117189012BCN 117189012 BCN117189012 BCN 117189012BCN-117189012-B

Abstract

The invention discloses an intelligent positioning cutting method for a sleeve based on track measurement, which is characterized in that the position of a horizontal long drilling hole on the ground is measured to obtain the initial position Z i (x 0 ,y 0 ,z 0 of the horizontal long drilling hole, a drilling track measuring instrument is installed on a drilling machine, construction is carried out along with the horizontal long drilling hole, track information of each horizontal long drilling hole is recorded, the track L i (x, y and Z) of each horizontal long drilling hole is drawn according to the initial position Z i (x 0 ,y 0 ,z 0 ) of the horizontal long drilling hole and the track information obtained in the step two, a positioning node device is installed on a hydraulic support behind a downhole coal mining machine, accurate positioning of a grout outlet can be achieved only by putting the track data of the downhole hydraulic support and the track instrument data of the ground into a unified coordinate system for management and calculation, the design plane is calculated by adopting a plurality of hydraulic support position information, the accuracy of the position calculation of the grout outlet is improved, the system error caused by position information error of individual hydraulic supports is avoided, and the technical problem that the existing sleeve positioning cutting method cannot accurately position the grout outlet and cannot be suitable for different working conditions is solved.

Inventors

XU JING
WANG HAIJUN
ZHANG QINGQING
SHEN HONGLIANG
WANG YUNHONG
LU JINGJIN
WU HAI
WANG PAN

Assignees

中煤科工西安研究院(集团)有限公司

Dates

Publication Date: 20260508
Application Date: 20230811

Claims (4)

1. The intelligent positioning and cutting method for the sleeve based on track measurement is characterized by comprising the following steps of: step one, measuring the open position of a horizontal long drilling hole on the ground to obtain the initial position of the horizontal long drilling hole ; Step two, installing a drilling track measuring instrument on the drilling machine, and recording track information of each horizontal long drilling along with the construction process of the horizontal long drilling; The track information comprises an inclination angle, an azimuth angle and a tool facing angle; Step three, according to the initial position of the horizontal long drilling hole Drawing the track of each horizontal long drilling hole according to the track information obtained in the second step ; Wherein, the , In the case of a horizontal long drill Kong Xuhao, The total number of the horizontal long drilling holes; installing a positioning node device on the rear hydraulic support of the underground coal mining machine, and along with the real-time exploitation of the underground coal mining machine, measuring the actual three-dimensional position information of the hydraulic support in real time by the positioning node device; The actual three-dimensional position information comprises a moving speed And real-time location ; Wherein the method comprises the steps of , For the serial number of the hydraulic support of the stope face, The total number of hydraulic supports of the stope face is the total number of hydraulic supports; step five, the ground control center checks image information measured by a monitoring system at the rear of the hydraulic support at the corresponding position according to the actual three-dimensional position information of the hydraulic support, and determines whether a sleeve in the image is exposed or not; If the sleeve is in the exposed state, calculating the cutting position of the sleeve by utilizing the displacement of the hydraulic support, starting a cutting device arranged on the hydraulic support, and cutting the sleeve according to the calculated cutting position; if the casing is not in the exposed state, the ground control center horizontally long drilling track And hydraulic support position Unifying the two coordinate systems to the same coordinate system, and calculating the position of the slurry opening; The method for calculating the position of the slurry mouth specifically comprises the following steps: step Q1, recording the positions of m hydraulic supports at time t1 、、...、 Obtaining a plane by establishing least square model fitting ; Step Q2, obtaining a plane of coordinates of m points at time t2 by the same method ; Step Q3, judging the plane And plane surface Whether parallel, if so, designing a plane S, wherein the plane S is equal to the plane And plane surface Are all parallel and to a plane And plane surface If not, taking plane And plane surface Is taken as a plane S; step Q4, determining the track of the plane S and the horizontal long drilling hole Is the intersection of (2) Will be As a horizontal long borehole at time t2 A pulp outlet position; step Q5, and so on, a horizontal long borehole at time t3, t4, t5 Until the project is finished; And step six, performing cutting operation on each grout outlet position calculated in the step five in the horizontal directional long drilling hole, and cutting the direct roof strata into goaf.
2. The intelligent positioning and cutting method for the sleeve based on track measurement according to claim 1, wherein the actual three-dimensional position information of the hydraulic support is transmitted to a ground control center in real time in a wireless or wired mode.
3. The intelligent positioning and cutting method for the sleeve based on track measurement according to claim 1, wherein the positioning node device comprises a triaxial laser gyroscope and a triaxial accelerometer assembly.
4. The intelligent positioning cutting method for the sleeve based on the track measurement according to claim 1, wherein the cutting operation is performed at each grout outlet position calculated in the fifth step by adopting an air cannon or hydraulic cutting mode.

Description

Intelligent positioning cutting method for sleeve based on track measurement Technical Field The invention belongs to the technical development field of coal mines, relates to an intelligent positioning and cutting system, and particularly relates to an intelligent positioning and cutting method for a sleeve based on track measurement. Background The along-mining along-with-filling ecological coal mining method based on the horizontal long drilling of the sleeve on the top plate of the coal seam can realize the real-time filling of the goaf of the coal mine with high efficiency and low cost, furthest avoids the possibility of serious damage to the ecological environment caused by high-strength mining, and is a novel ecological mining technology. The coal mining method needs to monitor the position of the goaf sleeve in real time and ensure that a slurry outlet at the front section of the sleeve is always exposed in the goaf. The soft type direct roof stratum can timely collapse along with the advance of the stoping face, and the sleeve is always exposed in the goaf, but for the hard and difficult-to-collapse direct roof stratum such as fine sandstone, middle sandstone and the like, the sleeve is required to be positioned first, and then the exposure of the sleeve is completed by means of air cannons, hydraulic cutting and the like, so that the smooth filling work is ensured. In order to realize intelligent positioning and cutting, new sensors are often needed to be added in the prior art to judge and calculate the exposed state of the sleeve and the designed position of the grout outlet. On one hand, the hardware cost of the system is increased, on the other hand, the complexity of system software is increased, and the cost and difficulty of system construction and maintenance are increased. At present, a sleeve positioning and cutting system and a sleeve positioning and cutting method based on track measurement do not need to add new hardware equipment, are suitable for a weak direct roof stratum and a hard direct roof stratum which is not easy to collapse, and can ensure that ecological exploitation engineering is carried out smoothly while the exploitation is carried out. Disclosure of Invention Aiming at the defects of the prior art, the invention aims to provide an intelligent positioning and cutting method for a sleeve based on track measurement, so as to solve the technical problem that the positioning and cutting method for the sleeve in the prior art cannot accurately position a grout outlet and cannot be suitable for different working conditions. In order to solve the technical problems, the invention adopts the following technical scheme: the intelligent positioning and cutting method for the sleeve based on track measurement specifically comprises the following steps: Measuring the open hole position of a horizontal long drilling hole on the ground to obtain an initial position Z i(x0,y0,z0 of the horizontal long drilling hole; Step two, installing a drilling track measuring instrument on the drilling machine, and recording track information of each horizontal long drilling along with the construction process of the horizontal long drilling; The track information comprises an inclination angle, an azimuth angle and a tool facing angle; Drawing a track L i (x, y, Z) of each horizontal long drilling hole according to the initial position Z i(x0,y0,z0) of the horizontal long drilling hole and the track information obtained in the step two; wherein i is less than or equal to n, i is the serial number of the horizontal long drilling holes, and n is the total number of the horizontal long drilling holes; installing a positioning node device on the rear hydraulic support of the underground coal mining machine, and along with the real-time exploitation of the underground coal mining machine, measuring the actual three-dimensional position information of the hydraulic support in real time by the positioning node device; The actual three-dimensional position information comprises a moving speed V mt and a real-time position D m (x, y, z, t); wherein M is less than or equal to M, M is the serial number of hydraulic supports of the stope face, and M is the total number of hydraulic supports of the stope face; step five, the ground control center checks image information measured by a monitoring system at the rear of the hydraulic support at the corresponding position according to the actual three-dimensional position information of the hydraulic support, and determines whether a sleeve in the image is exposed or not; If the sleeve is in the exposed state, calculating the cutting position of the sleeve by utilizing the displacement of the hydraulic support, starting a cutting device arranged on the hydraulic support, and cutting the sleeve according to the calculated cutting position; If the sleeve is not in the exposed state, the ground control center unifies the track L i (x, y, z) of the horizontal long d